CN206671896U - Remote metering device - Google Patents
Remote metering device Download PDFInfo
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- CN206671896U CN206671896U CN201720259519.0U CN201720259519U CN206671896U CN 206671896 U CN206671896 U CN 206671896U CN 201720259519 U CN201720259519 U CN 201720259519U CN 206671896 U CN206671896 U CN 206671896U
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- 238000005259 measurement Methods 0.000 claims abstract description 84
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Abstract
The utility model embodiment provides a kind of remote metering device, including controller, aircraft, is arranged at carry-on laser beam emitting device and laser receiver.After aircraft flight to datum mark being controlled by controller, laser beam emitting device launches laser signal to measurement point, laser receiver receives the laser signal by measurement point reflection, controller obtains the time of transmitting laser signal and receives the time of reflected laser signals, the measurement distance between measurement point and datum mark is obtained with reference to optical maser wavelength, and according to the coordinate and measurement distance of the datum mark to prestore, obtain the coordinate of measurement point.By controlling aircraft to fly in the air, utilize laser beam emitting device and reception device measurement distance, realized in whole process using automatic control technology, staff only needs that controller is carried out to operate accordingly, greatly improve measurement efficiency, and human resources are released, it also avoid sliding the influence that stone etc. brings personal safety.
Description
Technical field
It the utility model is related to and be used for colliery stope survey technical field, and in particular to a kind of remote metering device.
Background technology
Opencut needs monthly to measure examination to adopting stripping amount, to calculate this month coal production amount and peel off performance.
Influenceed by the complicated orographic condition of open-pit mine stope, current most of opencuts are all to hold measuring instrument by survey crew's hand to arrive
Stope measures examination, and survey crew needs a hand-held measurement signal reception device during measurement, a hand-held measurement handle, around adopting
Upper and heel, side top take a round (measurement for completing a step), carry out getting measurement ready when walking and (erect measurement signal reception device
Upright good, the other hand operational measure handle, is deposited the elevation of the current standpoint of survey crew and coordinate points by GPS receiver device
Store up in measuring instrument).Needed during measurement every 20 meters, make a call to a measurement point, measurement position height needs to encrypt when changing greatly
Measurement point, measurement data is imported into computer after measurement, by connecting to form a measuring surface to the point of measurement, by front and rear
The contrast of the measuring surface of two phase engineerings (before adopting, adopting afterwards) realizes that the earthwork amount of employing calculates, and calculates this body for adopting momentum
Product.
Opencut will monthly be counted to output, it is necessary to which monthly measurement examination once, often measures once, survey crew
Manually stope will be run one time.Therefore being checked and accepted device using existing measurement and measured needs the time long, it is necessary to personnel are more, effect
Rate is very low.Moreover, being measured in open-pit mine stope, in order to ensure measurement accuracy, much it is along at the top of step, root is entered
Row measurement, it is easy to stone is slid by top and injured by a crashing object.
Utility model content
The utility model embodiment aims to provide a kind of remote metering device, to solve opencast survey face in the prior art
Mapping process in manpower consumption is high, efficiency is low and the personal safety to staff has a great influence technical problem.
In order to solve the above technical problems, the utility model embodiment provides a kind of remote metering device, including controller, fly
Row device, it is arranged at the carry-on laser beam emitting device and laser receiver；Wherein：
The aircraft, flown under the control of the controller to datum mark；
The laser beam emitting device, after the aircraft flight to datum mark, launch laser signal to measurement point；
The laser receiver, after the laser beam emitting device launches laser signal, receive anti-by the measurement point
The laser signal penetrated；
The controller, obtain the time of transmitting laser signal and receive the time of reflected laser signals, with reference to laser
Wavelength obtains the measurement distance between the measurement point and the datum mark；And according to the coordinate of the datum mark to prestore and
The measurement distance, obtain the coordinate of the measurement point.
Alternatively, in above-mentioned remote metering device, in addition to：
Gravitational equilibrium instrument, the aircraft bottom is arranged at, is connected to ensure described to swash with the laser beam emitting device
The direction of the launch of light emitting devices is perpendicular to horizontal plane.
Alternatively, in above-mentioned remote metering device, in addition to：
Camera, it is arranged on the aircraft, obtains the forward image on the aircraft flight direction, the shooting
Head sends the forward image got to the controller；
The controller also includes display screen, for showing the forward image to prompt operating personnel.
Alternatively, in above-mentioned remote metering device, in addition to it is arranged at the carry-on RTK rover station and receives dress
Put；
The RTK rover station reception device sends carrier signal to survey station；
The survey station obtains the current position coordinates of the aircraft using carrier phase difference method, and by the flight
The current position coordinates of device are sent to the controller；
The controller, according to the current position coordinates of the aircraft and the coordinate of the datum mark, adjust described fly
The flight path of row device.
Alternatively, in above-mentioned remote metering device, the first joystick is provided with the controller, by adjusting
State the heading that the first joystick adjusts the aircraft.
Alternatively, in above-mentioned remote metering device, the second joystick is provided with the controller, by adjusting
The second joystick is stated to adjust the aircraft advance or retreat.
Alternatively, in above-mentioned remote metering device, the 3rd joystick is additionally provided with the controller, passes through adjustment
3rd joystick adjusts the position of the laser beam emitting device to change the direction of the launch.
Alternatively, in above-mentioned remote metering device, the 4th joystick is additionally provided with the controller, passes through adjustment
4th joystick adjusts the shooting direction of the camera.
Alternatively, in above-mentioned remote metering device, the controller, the coordinate of the measurement point is sent to upper
Machine, the image of measuring surface is drawn for host computer.
Alternatively, in above-mentioned remote metering device, the aircraft is quadrotor or six rotorcraft.
Compared with prior art, the above-mentioned technical proposal that the utility model embodiment provides at least has below beneficial to effect
Fruit：
The remote metering device that the utility model embodiment provides, including controller, aircraft, it is arranged at the aircraft
On laser beam emitting device and laser receiver.Aircraft flight is controlled to datum mark by controller.Work as aircraft flight
To datum mark, laser beam emitting device launches laser signal to measurement point, and laser receiver is received by the measurement point reflection
Laser signal, controller obtain transmitting laser signal time and receive reflected laser signals time, with reference to laser wave
Length obtains the measurement distance between measurement point and datum mark, and according to the coordinate and measurement distance of the datum mark to prestore, obtains
The coordinate of measurement point.By controlling aircraft to fly in the air, using laser beam emitting device and reception device measurement distance, entirely
During using automatic control technology realize, staff only need to controller carry out accordingly operate, greatly
Measurement efficiency is improved, and releases human resources, and operating personnel can be with outer control aircraft on the scene, it is not necessary to is entered
In opencut, it also avoid sliding the influence that stone etc. brings personal safety.
Brief description of the drawings
Fig. 1 is the principle schematic diagram of remote metering device described in the utility model one embodiment；
Fig. 2 is the measurement result schematic diagram of measuring surface described in the utility model one embodiment；
Fig. 3 is remote metering apparatus structure schematic diagram described in the utility model one embodiment；
Fig. 4 is the structural representation of controller described in the utility model one embodiment；
Fig. 5 is remote metering device operating diagram described in the utility model one embodiment；
Fig. 6 is that the utility model one embodiment obtains measurement point and reference point location relation schematic diagram.
Embodiment
Further illustrate specific embodiment of the present utility model below in conjunction with the accompanying drawings.
It is readily appreciated that, according to the technical solution of the utility model, in the case where not changing the utility model in essence spirit, this area
Those skilled in the art the various structures mode and implementation that can mutually replace.Therefore, detailed description below and
Accompanying drawing is only the exemplary illustration to the technical solution of the utility model, and is not to be construed as whole of the present utility model or is considered as
Utility model technical scheme is defined or limited.
Mention in this manual or may mention up, down, left, right, before and after, front, the back side, top, bottom etc.
Orientation term is defined relative to the construction shown in each accompanying drawing, and they are relative concepts, and it is therefore possible to can root
Correspondingly changed according to its residing diverse location, different use states.So also should not be by these or others side
Position term is construed to restricted term.
Embodiment 1
The present embodiment provides a kind of remote metering device, as shown in figure 1, it includes controller 200, aircraft 101, set
In laser beam emitting device 102 and laser receiver 103 on the aircraft 101；The controller 200 passes through communication network
Realize that data communicate with the aircraft 101, laser beam emitting device 102 and laser receiver 103, with send control signal to
The aircraft 101, laser beam emitting device 102 and laser receiver 103.Wherein：
The aircraft 101, flown under the control of the controller 200 to datum mark.The controller 200 equivalent to
The remote control of the aircraft 101, in the relevant information of datum mark described in the memory storage of controller 200, the related letter
Breath can be a certain object of reference or coordinate information, and the aircraft can be directly controlled according to the relevant information of the datum mark
101 fly to datum mark position.The rotor number of the aircraft 101 is preferably even number, because balance quality is more preferable, is examined
Consider required power size, preferably quadrotor or six rotorcraft, there is preferable energy saving.
The laser beam emitting device 102, flown in the aircraft 101 to datum mark, to measurement point transmitting laser letter
Number；It can be in response to the control signal of the controller 200, when controller 200 determines that the aircraft 101 has arrived at base
On schedule, then sending control signal controls the laser beam emitting device 102 to launch laser.The laser beam emitting device 102, including it is more
Individual laser, such as Fig. 5, it can send multi-stripe laser beam.There is following advantage using multi-stripe laser beam：First, in order to more preferable
Step upper and heel and domatic situation are measured, increases measurement accuracy；On the other hand it is to increase measurement range.The measurement point is
Any one position in opencut in measuring surface.The distance between different measurement points according to it is existing get ready metering system away from
From selection.
The laser receiver 103, after the laser beam emitting device 102 launches laser signal, receive by the survey
Measure the laser signal of point reflection；Optical signal detector can be selected in the laser receiver 103.
The controller 200, obtain the time of transmitting laser signal and receive the time of reflected laser signals, with reference to sharp
Optical wavelength obtains the measurement distance between the measurement point and the datum mark；And according to the coordinate of the datum mark to prestore with
And the measurement distance, obtain the coordinate of the measurement point.Optical maser wavelength can reflect the transmission speed of laser, according to speed and
Time can obtain laser propagation distance, that is, the round distance between laser emission point and measurement point.And Laser emission
Device 102 is arranged on aircraft 101, therefore laser emission point and the distance between the datum mark where aircraft are advance
Measurement obtains.Therefore, according to above measurement data can quickly and easily measure to obtain datum mark reach between measurement point away from
From due to having prestored the position coordinates of datum mark, therefore the position that measurement point can be directly obtained according to measurement distance is sat
Mark.
As shown in fig. 6, the coordinate (X bases, Y bases, Z yls) of datum mark is, it is known that and being stored in controller.
The coordinate (X is surveyed, and Y is surveyed, and Z is surveyed) of measurement point is drawn using trigonometric function theorem by following algorithm.
Measure point height：Z surveys=Z bases-S × cos ∠ a；
Measurement point X-coordinate：X surveys=X base ± S × sin ∠ a × cos ∠ b (X-axis positive direction with plus, negative direction is with subtracting.)
Measurement point Y-coordinate：Y surveys=Y base ± S × sin ∠ a × sin ∠ b (X-axis positive direction with plus, negative direction is with subtracting.)
More than, S is that laser ranging obtains datum mark and arrives the distance between measurement point.
By such scheme, each measurement point and the distance of datum mark are measured using laser ranging, is led to using trigonometric function
Cross benchmark point coordinates, elevation and the elevation that measurement point is calculated with the distance of measurement point, using record three times (before five meters of spacing,
In, it is rear) data corrected, finally each point coordinates, elevation and initial data are stored to controller.
Such scheme, its core point are each measurement to measuring surface by way of being remotely controlled the aircraft 101
The coordinate of point measures, and can be directly stored in measurement result in controller 200 after the measurement.Or the control
Device 200, the coordinate of the measurement point is sent to host computer, the image of measuring surface is drawn for host computer, finally according to all surveys
The image for the measuring surface that the coordinate of amount point is drawn can be as shown in Figure 2.
Using such scheme, by controlling aircraft to fly in the air, measured using laser beam emitting device and reception device
Distance, realized using automatic control technology in whole process, staff only needs to carry out controller corresponding operation i.e.
Can, greatly improve measurement efficiency, and release human resources, and operating personnel can with outer control aircraft on the scene,
It need not enter in opencut, it also avoid sliding the influence that stone etc. brings personal safety.
Embodiment 2
The remote metering device provided in the present embodiment, on the basis of above scheme, also includes as shown in Figure 3：
Gravitational equilibrium instrument 104, the bottom of aircraft 101 is arranged at, when the aircraft 101 tilts, described in guarantee
The direction of the launch of laser beam emitting device 102 is perpendicular to horizontal plane.The direction that the laser beam emitting device 102 launches laser can be
Arbitrarily, as long as because laser is the launch angle and propagation distance that laser is can determine that along straightline propagation, it becomes possible to according to base
Coordinate on schedule obtains the coordinate of measurement point.Laser emission is found the simplest with data processing during horizontal plane in theory,
Therefore the direction of the launch of laser beam emitting device 102 is adjusted in this programme by gravitational equilibrium instrument 104.Specifically, can be by weight
Dynamic balance instrument 104 is connected with laser beam emitting device 102 by pulley, as long as gravitational equilibrium instrument 104 can keep balancing, you can is protected
Demonstrate,prove the holding of generating device of laser 102 balance and the direction of the launch is perpendicular to horizontal plane.The gravitational equilibrium instrument 104 and Laser emission dress
Put 102, laser receiver 103 may be contained within aircraft undercarriage 108 surrounded within the scope of, in the aircraft
Bottom is additionally provided with the parts such as the processor communicated with controller 200 and power supply, is encapsulated internally by cavity 109
Protected, motor 107 is located at the marginal position of aircraft, is symmetrically arranged with two, can further protect the flat of aircraft
Weigh performance.
As shown in figure 3, on the basis of such scheme, remote metering device also includes camera 105, is arranged at described fly
On row device 101, the camera 105 in figure is arranged at the top of laser beam emitting device 102, can be solid with laser beam emitting device 102
It is fixed, the forward image on the heading of aircraft 101 is obtained, the camera 101 sends the forward image got
To the controller 200；As shown in figure 4, the controller 200 includes display screen 201, for showing the forward image to carry
Show operating personnel, for operating personnel according to the forward image, adjust the flight path of the aircraft 101.Operating personnel can
Each to control aircraft 101, laser beam emitting device 102 etc. to button and handle by what is set on controller.Such as Fig. 4, institute
State and the first joystick 202 is provided with controller 200, the aircraft is adjusted by adjusting first joystick 202
101 heading.The second joystick 203 is provided with the controller 200, by adjusting second joystick
The advance or retrogressing of the 203 adjustment aircraft 101.The 3rd joystick 204 is additionally provided with the controller 200, is passed through
Adjust the 3rd joystick and adjust the positions of the 204 whole laser beam emitting devices 102 to change the direction of the launch.The controller
The 4th joystick 205 is additionally provided with 200, the bat of the camera 105 is adjusted by adjusting the 4th joystick 205
Take the photograph direction.On the controller 200, be additionally provided with antenna 210 be used for launch and reception signal, realize and aircraft processor
Communication.Power switch 206, measurement switch 207 are also provided with controller 200 and reserves switch 208, and display
Control button 209 and other measurement associated buttons etc., are controlled to the correlation function of controller.
Further, the remote metering device in such scheme also includes the RTK movements being arranged on the aircraft 101
Reception device of standing 106, RTK rover station reception device 106 send carrier signal to survey station；The survey station utilizes carrier phase difference
Method obtains the current position coordinates of the aircraft 101, and the current position coordinates of the aircraft 101 are sent to described
Controller；The controller 200, according to the current position coordinates of the aircraft 101 and the coordinate of the datum mark, adjust institute
The flight path of aircraft 101 is stated, can specifically use RTK (Real Time Kinematic) technology to realize to aircraft
101 positioning.
The principle that above scheme measures to the coordinate of measurement point is used to calculate measurement point and base using trigonometric function
Vertical range, orientation horizontal range on schedule.With benchmark point coordinates by adding and subtracting vertical range, orientation horizontal range calculates measurement
Point coordinates, and measurement point coordinates is stored.
Using such scheme, its heading can be accurately adjusted during aircraft flight, to ensure its flight extremely
Datum mark, and by camera shooting image, shown by display screen, can be for flight road of the operating personnel to aircraft
Line is adjusted, it is ensured that aircraft can fly to datum mark within the most short time, to improve the efficiency of measurement.
Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：
It can still modify to the technical scheme described in foregoing embodiments, or which part technical characteristic is carried out etc.
With replacement；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the utility model technology
The spirit and scope of scheme.
Claims (10)
1. a kind of remote metering device, it is characterised in that including controller, aircraft, be arranged at the carry-on laser
Emitter and laser receiver；Wherein：
The aircraft, flown under the control of the controller to datum mark；
The laser beam emitting device, after the aircraft flight to datum mark, launch laser signal to measurement point；
The laser receiver, after the laser beam emitting device launches laser signal, receive by the measurement point reflection
Laser signal；
The controller, obtain the time of transmitting laser signal and receive the time of reflected laser signals, with reference to optical maser wavelength
Obtain the measurement distance between the measurement point and the datum mark；And according to the coordinate of the datum mark to prestore and described
Measurement distance, obtain the coordinate of the measurement point.
2. remote metering device according to claim 1, it is characterised in that also include：
Gravitational equilibrium instrument, the aircraft bottom is arranged at, is connected to ensure that the laser is sent out with the laser beam emitting device
The direction of the launch of injection device is perpendicular to horizontal plane.
3. remote metering device according to claim 1, it is characterised in that also include：
Camera, it is arranged on the aircraft, obtains the forward image on the aircraft flight direction, the camera will
The forward image got is sent to the controller；
The controller also includes display screen, for showing the forward image to prompt operating personnel.
4. remote metering device according to claim 1, it is characterised in that also described carry-on including being arranged at
RTK rover station reception device；
The RTK rover station reception device sends carrier signal to survey station；
The survey station obtains the current position coordinates of the aircraft using carrier phase difference method, and by the aircraft
Current position coordinates are sent to the controller；
The controller, according to the current position coordinates of the aircraft and the coordinate of the datum mark, adjust the aircraft
Flight path.
5. remote metering device according to claim 1, it is characterised in that：
The first joystick is provided with the controller, flying for the aircraft is adjusted by adjusting first joystick
Line direction.
6. remote metering device according to claim 1, it is characterised in that：
The second joystick is provided with the controller, the aircraft advance is adjusted by adjusting second joystick
Or retreat.
7. remote metering device according to claim 1, it is characterised in that：
The 3rd joystick is additionally provided with the controller, the Laser emission is adjusted by adjusting the 3rd joystick
The position of device is to change the direction of the launch.
8. remote metering device according to claim 3, it is characterised in that：
The 4th joystick is additionally provided with the controller, the camera is adjusted by adjusting the 4th joystick
Shooting direction.
9. according to the remote metering device described in claim any one of 1-8, it is characterised in that：
The controller, the coordinate of the measurement point is sent to host computer, the image of measuring surface is drawn for host computer.
10. remote metering device according to claim 9, it is characterised in that：
The aircraft is quadrotor or six rotorcraft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720259519.0U CN206671896U (en) | 2017-03-17 | 2017-03-17 | Remote metering device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720259519.0U CN206671896U (en) | 2017-03-17 | 2017-03-17 | Remote metering device |
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| Publication Number | Publication Date |
|---|---|
| CN206671896U true CN206671896U (en) | 2017-11-24 |
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ID=60376717
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720259519.0U Active CN206671896U (en) | 2017-03-17 | 2017-03-17 | Remote metering device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110793505A (en) * | 2019-11-18 | 2020-02-14 | 山西农业大学信息学院 | Remote measuring system and distance measuring method for garden environment design |
| CN112666308A (en) * | 2020-12-16 | 2021-04-16 | 神华北电胜利能源有限公司 | Monitoring equipment and monitoring method for monitoring spontaneous combustion of coal on coal bench |
-
2017
- 2017-03-17 CN CN201720259519.0U patent/CN206671896U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110793505A (en) * | 2019-11-18 | 2020-02-14 | 山西农业大学信息学院 | Remote measuring system and distance measuring method for garden environment design |
| CN112666308A (en) * | 2020-12-16 | 2021-04-16 | 神华北电胜利能源有限公司 | Monitoring equipment and monitoring method for monitoring spontaneous combustion of coal on coal bench |
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